Multi-turns Absolute Rotary Encoder
User Manual
For CANbus Interface
深圳布瑞特科技有限公司
[Link]
Product Advantages
●The CAN interface has real-time two-way communication capabilities,
and the CAN interface rotary encoder is compatible with CAN2.0
electrical specifications. Users can set the encoder ID address, zero
point, data transmission mode and other parameters through
commands. It is currently the most friendly intelligent rotary encoder.
● Full-scale true multi-turn encoder composed of precision reduction
gears, no need to counting, no battery needed, power-break memory;
any position within the range is unique, even if there is interference or
movement after power break, the number of turns will not be lost.
And the function of measuring speed is added, which is convenient for
users to calculate.
●The resolution of an multi-turns encoder is 10bit(1024P/R) or
12bit(4096P/R). and the number of turns (Memorable range) are
24turns, 50turns, 99turns, 150turns, 1287turns, 4968turns,
19872turns, and a resolution of 0.35 degrees can be achieved within
the range. The number of turns refers to the range of power break
memory, when exceeding the range, the memory starts from the
beginning.
● All parameters can be set via CAN bus communication, and the zero
point can be set at any position. Therefore, when the encoder is
installed, the device can be left at any position, without considering
the rotation position of the encoder, and the connecting shaft can be
fixed and powered on. Afterwards, it can be automatically corrected
by performing a zero-setting operation at the external lead or through
CAN bus communication.
● It is especially suitable for tower cranes, mining cranes, construction
lifts, machine tools, 3D printers, automatic assembly lines, industrial
robots, printing machinery, packaging machinery, logistics machinery,
mobile advertising screen slides and other equipment height, stroke,
angle and speed reliable / accurate measurement.
Electrical Characteristics
Electrical Parameters
Working Voltage 5V, 24V(9~30V) Baud rate 100k-1M(default 500k)
Working Current 100mA Station ID 1~255（default 1）
Linearity 0.1% TCP Refer to the Attachment
Kernel refresh cycle 50uS Electrical life > 100000 h
Mechanical parameters
Zinc-nickel coated steel/ Aerospace
Shell/ flange material
aluminum
Shaft material Stainless steel
Bearing material Bearing steel
Maximum load of the Shaft Axial 20 N, Radial 80 N
Maximum mechanical speed 1000RPM
Starting torque 0.006Nm
Weight ≤150 g（include 1.2meter shielded wire）
Environment Parameters
Operating temperature -40 ～ + 85°C
Storage temperature -40 ～ + 85 °C
Humidity 98 % (No condensation)
Standard Waterproof Level Shell: IP54; Shaft， Bearing: IP65
Highest Waterproof Level IP67/ IP68 waterproof for the entire body
Wiring Methods
Positive power supply Please pay attention to the voltage value on the
Red
（5V、9~30V） encoder label before power on.
Black Ground（GND）
1. Set zero position: connect yellow wire to ground
(black wire).
2. Restore the factory setting function: after power
Yellow NC
off, connect yellow wire to ground (black wire).
Power on again, hold for 2 minutes, Power off,
remove the yellow line.
Green CANH
White CANL
Mechanical Size
Thread hole
depth 6mm
The angle relationship
between the wire exit D shape shaft
direction and the 3 M3 size ratio 5:1
mounting holes is random
Drawing 1: 6mm solid shaft, IP54
Drawing 2: 8mm solid shaft, IP54
Drawing 3: 8mm blind hole, IP54
Drawing 4: 6mm solid shaft, IP67 waterproof encoder
Drawing 5: 8mm solid shaft, IP67 waterproof encoder
Drawing 6: 6mm solid shaft, IP68 waterproof encoder
Precautions for installation and use
● The encoder is a precision instrument. Please handle it with care and use it carefully,
especially for the encoder shaft, please do not knock, hit or pull hard.
● Flexible connectors or elastic supports should be used for the connection between the
encoder and the machine, and the rigid damage caused by the non-concentricity of the rigid
connection should be avoided.
● Encoder waterproof grade IP54, IP67, IP68 , such as the choice of IP54 encoder, shaft
protection grade is IP65, should avoid shaft upward installation or soaking in water, otherwise,
please use waterproof shield and other measures; IP67/ IP68 waterproof encoder was tested
in one-meter depth of water for 48 hours. Please rest assured to use in outdoor conditions.
● Although the encoder itself will not lose the number of turns in the interference
environment, it will cause interference to the data in the transmission process, so when there is
a motor in the system or a very strong electromagnetic interference environment, the encoder
power supply should use an isolated power supply and external extension It is best to use
double-shielded cables and other measures for the communication wire.
● The outer shell of the encoder shell and shielded cable should be well grounded to prevent
damage to the encoder circuit due to lightning strikes or high-voltage static electricity!
● Except for the above zero-setting (yellow wire) allows grounding, any other signal wires of
the encoder are forbidden to be short-circuited with each other. After power-on, avoid
accidentally touching the signal wires, otherwise it may cause permanent damage to the
circuit!
Product warranty and disclaimer
● 1. The product is guaranteed for one year free of charge when used correctly.
● 2. When exceed the warranty period, or the product is damaged due to improper
use, the product can be sent back to the original factory for repair (only raw
material cost is required when repair).
Contact Us
深圳布瑞特科技有限公司
Address: Building A2, Anle Industrial Park, No.172 Hangcheng Street, Xixiang
Street, Banan, Shenzhen. 518101
地址: 深圳市宝安区西乡街道航城大道 172 号安乐工业区 A2 栋 6 层
邮编：518101
Website: [Link]
Technology support:
WhatsApp/ Wechat: +86 15814017675 Email: briterencoder@[Link]
Shop: [Link]
Store: [Link]
Attachment
Encoder CAN protocol specification
1. Introduction to CAN
CAN is called Controller Area Network. It was first proposed by Bosch Company in
Germany and is one of the most widely used field buses in the world.
2. CAN application layer protocol
Frame information setting:
1. Choose standard frames instead of extended frames
2. Select data frame instead of remote frame
3. Data field length (without identifier)
Application layer protocol:
Data length Encoder address Command FUNC Data
1 byte 1 byte 1 byte 0~4 bytes
The CAN communication protocol of the encoder adopts a master and multiple slaves.
2.1 About identifiers
CAN2.0B stipulates that the standard data frame has an 11-bit identifier, which is
defined as the target address of the call in this protocol. Data range: 0～255. Among
them, 0 is broadcast, 1 is the master station, and the rest are slave stations. When the
identifier is 0, it means that the master station broadcasts to the slave station, and the
slave station has no data to return.
2.2 About the data field
The master station and the slave station transmit data through the data domain.
Regarding the 8-byte data field content, the format defined by this agreement:
[Data Length] + [Encoder Address] + [Command FUNC] + [Data DATA]:
(1) Data length: 1 byte, data range 0~8, including the total number of bytes of
itself, encoder address, command FUNC, and data DATA. Note: This data length is
different from the data length of the frame information;
(2) Encoder address: the CAN node address of the encoder, 1 byte;
(3) Command FUNC: communication function code, 1 byte;
(4) Data DATA: The data carried by the instruction, 0~4 bytes.
2.3 About identifier ID and encoder address
When the host calls the encoder, the identifier represents the node address of the
target encoder;
When the encoder responds to the host, the identifier indicates the node address of
the return encoder;
For example, the communication between the host and encoder No.1:
3. Application of CAN and encoder communication:
3.1. Turn on the CAN device
(1) Set the baud rate. The host should be set to the same baud rate as the encoder,
and the factory default rate of the encoder is 500kbps;
3.2. Frame information setting
(1) Choose standard frames instead of extended frames;
(2) Choose data frame instead of remote frame;
(3) Calculate the length of the data field, including all content in the data field, the
maximum value is "8".
3.3. Data transmission
Fill in the content of the data field according to the protocol of the encoder. When
the content of the data field is multi-byte, the low byte is in front.
For example: A. The host sends an instruction to Encoder 1: "Read encoder value",
the data field length is 4;
Data field: 0x04 (data length) + 0x01 (encoder address) + 0x01 (instruction code)
+ 0x00 (data 1)
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]
0X01 0x04 0x01 0x01 0x00 —— —— —— ——
Returned data: data field length 7;
Data field: 0X07 (data length) + 0X01 (encoder address) + 0X01 (instruction code) +
0x00012345 (data)
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]
0X01 0x07 0x01 0x01 0x45 0x23 0x01 0x00 ——
4. BriterEncoder CAN instruction set V2.1
4.1. CAN protocol
(1) Adopt CAN2.0B standard frame communication protocol,
(2) Communication rate: 1Mkbps, 500kbps, 250kbps, 125kbps, 100kbps can be set.
500kbps is the default communication rate setting.
Note: After modifying the communication rate of the encoder, the host should also
be modified to the same communication rate!
4.2. Instruction structure
The composition of CAN2.0B instruction code:
[Length LEN] + [Device ID] + [Command FUNC] + [Data DATA]
[Length LEN]: 1 byte, including [Length LEN] + [Device ID] + [Command FUNC] +
[Data DATA]
[Device ID]: 1 byte, range 0~255;
[Command]: 1 byte, range 0~255;
[Data]: 0 ~ 4 bytes; 2 bytes form 16-bit data, with low byte first; 4 bytes form 32-
bit data, with low byte first;
5. CAN command data table V2.1
Example
CAN Function description (encoder address ID defaults to 01).
Standard frame ID (identifier) is also 01
Issue：[0x04][0x01][0x01][0x00]
Read the encoder value. Return:
0x01
Return data：32-bit unsigned number [0x07][0x01][0x01][0x45][0x23][0x01][0x00]
Encoder value: 0X00012345 (decimal:74565)
Set the encoder ID,
value range：0~255 Issue：[0x04][0x01][0x02][0x08]
0x02 Send data：8bit unsigned number. Return：[0x04][0x08][0x02][0x00]
Return data：8bit unsigned number. Set address：0X08
0：set successfully，other：error code
Set CAN communication baud rate
Send data: 8-bit signed number.
Issue：[0x04][0x01][0x03][0x01]
Return data: 8-bit signed number.
0x03 Return：[0x04][0x01][0x03][0x00]
0: set successfully, other: error code
Set baud rate：1M
0x00:500K; 0x01:1M 0x02:250K;
0x03:125K; 0x04:100K;
Set the encoder mode: Issue：[0x04][0x01][0x04][0xAA]
0x04 0x00: query, Return：[0x04][0x01][0x04][0x00]
0xAA: automatic post back Setting mode：0XAA（automatic return）
Set the automatic return time of the Issue：[0x05][0x01][0x05][0xE8][0x03]
encoder (microseconds), Return：[0x04][0x01][0x05][0x00]
0x05
the value range: 50~65535: Set the automatic return time：0X03E8
Send data: 16-bit unsigned number. （1000 ms）
Return data: 8-bit unsigned number.
0: set successfully, other: error code
Note: After setting a too short return time, the encoder will no longer be able to set other
parameters, use it with caution
Set the current position value to zero
Issue：[0x04][0x01][0x06][0x00]
Send data: 8-bit unsigned number.
0x06 Return：[0x04][0x01][0x06][0x00]
Return data: 8-bit unsigned number.
Set position value to zero
0: set successfully, other: error code
Sets the direction in which the Issue：[0x04][0x01][0x07][0x01]
0x07 encoder value is incremented: Return：[0x04][0x01][0x07][0x00]
0x00: clockwise, 0x01:counterclockwise Set direction：0x01（counterclockwise）
0x0C Set the midpoint of the encoder. Issue：[0x04][0x01][0x0C][0x01]
Send data: 8-bit unsigned number. Return：[0x04][0x01][0x0C][0x00]
Return data: 8-bit unsigned number. Sets the encoder to take the current
0: set successfully, other: error code position value as the midpoint value.
0x0D Set the current position value of the Issue：
encoder. [0x07][0x01][0x0D][0x00][0x01][0x23][0x45]
Value range: 0~0xFFFFFFFFF: Return：[0x04][0x01][0x0D][0x00]
Send data: 32-bit unsigned number. Set encoder value: 0X00012345 (decimal:
Return data: 8-bit unsigned number. 74565)
0: set successfully, other: error code
0x0F set the current turn value to 5 turns. Issue：[0x04][0x01][0x0F][0x01]
Send data: 8-bit unsigned number. Return：[0x04][0x01][0x0F][0x00]
Return data: 8-bit unsigned number. Set the encoder to 5 turns with the current
0: set successfully, other: error code position value.
